オムロン サーボモータ R88M-1L1K030T-S2

シリーズ: 1S Series Low-Inertia ACサーボモーター, compatible with EtherCAT bus servo drives, battery-free absolute encoder model

✅ Model Decoding

R88M-1L1K030T-S2

R88M: オムロン servo motor prefix

1: 1S Series

L: Low inertia motor

1K0: Rated power 1kW

30: 定格速度 3000 回転数

T: 23-bit battery-free absolute encoder (ABS)

S2: キー溝付 + tapped hole on shaft end; ブレーキがありません, no oil seal

📋 Main Electrical Specifications

📐 Mechanical Specifications

フランジ: 100mm square flange

シャフト径: φ19mm, with flat key + M5 tapped hole at shaft end

重さ: 5.7 kg

ブレーキ: No electromagnetic brake (brake model: R88M-1L1K030T-BS2)

Oil Seal: オイルシール無し (O suffix option for oil seal)

🔌 Matching Drive

Must be paired with OMRON 1S series EtherCAT servo drive:

R88D-1SN10F-ECT (単相230V, 1kW EtherCAT drive)

🧩 Typical Applications

EtherCAT bus equipment: 自動組立ライン, CNC, laser equipment, handling manipulators, high-speed positioning platforms, 包装機械. Low inertia design suitable for frequent start-stop and fast response motion control.

⚠️ Key Features

1. Battery-free absolute encoder: Position retention at power-off, no battery maintenance, eliminates risk of origin loss caused by battery failure
2. EtherCATバス, high-speed synchronization for multi-axis coordination
3. 3× short-time overload capability to handle impact loads
4. Low inertia rotor for excellent dynamic response

📌 Related Model Selection Reference

R88M-1L1K030H-S2: 1kW, 3000回転数, インクリメンタルエンコーダ, with keyway

R88M-1L1K030T-BS2: 1kW, 3000回転数, アブソリュートエンコーダ, with 24V brake

R88M-1L1K030T-OS2: 1kW, 3000回転数, アブソリュートエンコーダ, with oil seal + キー溝

📎 Matching Cable Part Numbers

電源ケーブル: R88A-CA1G□□□

エンコーダケーブル: R88A-CR1G□□□

Troubleshooting Checklist for OMRON 1S Servo R88M-1L1K030T-S2 + R88D-1SN10F-ECT

Precondition: Motor equipped with 23-bit battery-free absolute encoder, ブレーキがありません; EtherCAT bus drive with STO safety terminals. ⚠️ Insulation test (megger) must be performed with motor disconnected from drive. Never apply high voltage/megger test while drive is connected; power module will be burned out directly.

1. Pre-power-on Basic Inspection (Power OFF)
2. Mechanical Check

Manually turn motor shaft: smooth rotation without jamming or metal friction noise; seizure = bearing damage / mechanical load stuck

Tighten flange and coupling screws; excessive misalignment causes vibration and overload

Verify load inertia: maximum allowable load inertia 42×10⁻⁴ kg·m², excess will lead to oscillation and overload alarms

2. ケーブル & Connectors

Power cable U/V/W/PE: check for outer sheath damage, loose or oxidized pins; measure phase resistance with multimeter, three-phase resistance should be balanced; confirm no short circuit between U/V/W and ground

Encoder cable: secure connectors, shield grounded at drive side only; do not bundle encoder cables in parallel with power cables (interference source)

EtherCAT cable: intact RJ45 connector, verify OP state; follow IN/OUT sequence for multi-axis systems

3. 電源回路

Single-phase AC230V input, voltage range 180~264VAC; check circuit breaker and contactor contacts

Reliable PE grounding, common ground for drive and motor; poor grounding easily triggers encoder communication alarms

2. Power ON, No Alarm, but Servo Cannot Enable (SON cannot turn ON)
3. Check STO safety terminals: STO1/STO2 must be short-circuited. Disconnected STO prevents servo ON and triggers safety-related alarms
4. EtherCAT Status: confirm bus enters OP state; INIT/PREOP means communication failure, controller cannot send enable commands
5. Drive Input Terminals: check if ESTP emergency stop is triggered; limit switch logic
6. Controller Program: MC_Power instruction, axis enable logic, axis configuration (matched motor model)
7. パラメータの検証: motor code, encoder type must be set to Battery-free ABS
8. Main Drive Alarm Code Troubleshooting

4. Abnormal Motor Operation (No Alarm or Minor Warning)

4.1 Motor Shaking, 異音, 振動

機械式: coupling misalignment, 機械的なバックラッシュ, load resonance

コントロール: excessive gain; inertia identification not completed; improper acceleration/deceleration setting

電気: encoder interference; unbalanced three-phase current; poor contact of power cable

4.2 Severe Motor Heating

Continuous load exceeds rated torque; frequent start-stop; 周囲温度が高い

電流監視: monitor motor current via drive; continuous current near rated 5.2A indicates heavy load

4.3 Poor Positioning Accuracy, Origin Loss (Battery-free ABS model)

R88M-1L1K030T-S2: Battery-free absolute encoder. Position is retained if shaft stays stationary at power-off. Origin will be lost and 27.01 alarm triggered if shaft is rotated by external force during power-off.

Check encoder cable shield; loose connector caused by vibration

Mechanical backlash, slipping coupling

If shaft is rotated externally after every power cut → home return required every power-up

5. EtherCAT Communication Faults
6. Bus stuck at PREOP: damaged cable, wrong wiring sequence, incorrect slave ID; mismatched drive firmware version
7. Intermittent bus disconnection during operation: poor cable shielding; power cable interference; power noise; loose RJ45 connector
8. Occasional PDO frame loss: reduce bus cycle time; extend communication watchdog time; optimize grounding
9. Isolation Test Method (Quickly Locate Fault: モーター / ケーブル / ドライブ)
10. Separate Motor and Drive Test

Disconnect power cable and encoder cable; power on drive alone. If alarm disappears → fault in motor/cable; if alarm persists → drive hardware failure

2. Cross Swap Test (Same-axis model)

Swap motor + encoder cable to a healthy drive, judge whether fault source is motor or drive

3. Motor Coil Test

Power OFF, measure U/V/W phase resistance with multimeter. Resistance difference between three phases <5%; conduction between any phase and PE = motor shorted to ground

❗ Do NOT use megger on encoder circuit, encoder chip will be destroyed

7. Periodic Maintenance Checklist
8. 毎月: Tighten connectors, inspect cable wear; clean fan dust
9. 四半期ごと: Check motor bearing noise; retighten coupling and mechanical screws
10. 年間: Inspect grounding and shielding integrity; record motor temperature rise; back up drive firmware
11. Battery-free ABS model: Regularly verify home origin logic to avoid origin loss caused by external shaft rotation at power-off
12. 安全上の注意事項

Main circuit capacitor retains high voltage after power-off, wait ≥5 minutes before disconnecting wiring

Do NOT perform insulation resistance test (megger) with drive connected

Do NOT touch rotating shaft while servo is ON to prevent mechanical injury

Parameter Setting Guide for OMRON 1S Servo R88M-1L1K030T-S2 + R88D-1SN10F-ECT (Sysmac Studio, NX/NJ Controller)

モーター: 23-bit battery-free absolute encoder, ブレーキがありません; EtherCAT bus drive, STO safety terminals must be short-circuited, otherwise servo ON is unavailable.

Encoder resolution per revolution: 8388608 counts/rev

Preparations

1. Hardware Wiring: Power cable U/V/W/PE, エンコーダケーブル, EtherCAT cable, short STO1/STO2, ESTP emergency stop wiring;
2. Install Sysmac Studio on PC, connect NX/NJ controller via USB;
3. Pre-power inspection: shaft can be rotated manually without jamming, AC230V power supply normal, 確実な接地;
4. Create new project in controller, select corresponding NX/NJ CPU.
5. Scan EtherCAT Bus and Identify Servo Drive
6. [Configuration and Setup] → [EtherCAT], right-click EtherCAT Master → Compare and Merge with Actual Network
7. Software automatically scans EtherCAT slaves and recognizes R88D-1SN10F-ECT drive;
8. Confirm drive node address, クリック [適用する], bus state becomes PREOP;

Stuck at INIT: faulty cable / wrong node address; PREOP is normal, bus enters OP after project download.

4. Right-click drive → Assign Drive to Axis, motion axis (Axis0) generated automatically.
5. Drive Quick Setup Wizard (致命的!)

Right-click R88D-1SN10F-ECT drive → Setup and Tuning → Quick Parameter Setup and I/O Monitor

1. モーター & Encoder Setting (Key for this model)

モーター型式: R88M-1L1K030T-S2, software auto-load matching parameters;

エンコーダの種類: Battery-free Absolute Encoder

Absolute Mode Option: Use Absolute Encoder, Ignore Multi-turn Overflow (推奨)

For first use, motor replacement, corrupted multi-turn encoder data: クリック [Clear System], drive restarts to clear multi-turn data. アラーム 27.01 will pop up, this is normal.

2. I/O Terminal Setting

STO: Hardwired short;

ESTP external emergency stop: connect E-stop button; IN1 can be disabled in software if unused;

POT/NOT limit switches, DEC home sensor: enable as required; disable in software if not wired.

3. Motor Rotation Direction Test

クリック [Servo ON], use JOG to test rotation direction;

Reverse rotation: tick [Reverse Motor Rotation Direction], download parameters to drive;

4. Save parameters to drive EEPROM.
5. Motion Axis Parameter Configuration (単位換算 / Electronic Gear)

Double-click generated motion axis Axis0 → [Axis Parameters]

Encoder count per revolution: 8388608 pulse/rev

場合 1: Ball Screw (Screw lead 5mm, reduction ratio 1:1)

1 motor revolution → worktable moves 5mm

Command count per motor revolution: 8388608

Travel distance per motor revolution: 5 mm

ユニット: mm

意味: 8388608 encoder pulses of motor correspond to 5mm mechanical displacement. System calculates electronic gear automatically. For 1S bus servo, do NOT fill electronic gear manually, set mechanical travel directly.

場合 2: Rotary Axis, motor directly connected to turntable, 1 rev = 360°

Travel distance per motor revolution: 360 deg

ユニット: degree

Axis Limit Parameters

最高速度: motor rated speed 3000rpm, convert to corresponding mechanical speed;

Acceleration/Deceleration: set longer time (0.2~0.5s) at initial commissioning, shorten after tuning;

Soft Limit: enable, set positive and negative soft limit values;

Home Setting (Battery-free ABS)

✅ Battery-free absolute encoder: current position can be read at normal power-up, no mandatory home return every power-on; if shaft is rotated by external force during power-off, origin is lost and 27.01 alarm triggered, home calibration required

Home Mode: [Absolute Origin Preset], set mechanical zero position as origin;

If external home sensor is used: select home search mode (reverse near / home input).

4. Servo Gain Auto-tuning (Easy Tuning, Recommended for Beginners)

Right-click drive → Setup and Tuning → Easy Tuning

1. Select tuning mode: Simple mode;
2. Select mechanical type: Ball screw / Belt / Direct drive;

Ball screw: relatively high rigidity; Belt: low rigidity;

3. Set JOG travel and speed;
4. Click Start, drive runs reciprocally automatically, identifies load inertia and generates position loop gain, speed loop gain and filter automatically;
5. Save gain parameters to drive EEPROM after tuning;

If simple tuning is insufficient, 使用 [Advanced Auto-Tuning] or manually modify [Mechanical Rigidness 0~31]. Higher value = higher gain and faster response, excessive value causes vibration and squeal

Experience: Ball screw 8~16; Belt mechanism 3~8.

5. Important Drive Parameter List

6. Download Project and Commissioning Procedure
7. Save project, download project to NX/NJ controller;
8. Write drive parameters into EEPROM (prevent parameter loss after power-off);
9. Monitor screen: check axis status, actual position, モーター電流, bus OP state;
10. Program use MC_Power to enable servo; MC_MoveAbsolute / MC_MoveRelative for positioning;
11. JOG test run, check: rotation direction, abnormal vibration/noise, positioning performance;
12. Home Calibration: move mechanism to mechanical zero position, execute [Set Current Position as Origin].
13. Common Alarms & Parameter-related Faults
14. 27.01 Absolute Value Clear: Shaft rotated by external force while powered off, multi-turn encoder data lost; re-run Clear System and calibrate origin;
15. 87.00 ESTP Emergency Stop Alarm: Emergency stop circuit open, check IN1 wiring or disable E-stop in software;
16. STO-related Alarms: STO1/STO2 not short-circuited, safety circuit open, servo cannot enable;
17. 21.00 Encoder Cable Breakage: Loose encoder cable, oxidized pins, poor shield grounding;
18. Motor Shaking: Excessive gain, reduce mechanical rigidness and re-run auto-tuning;
19. Poor Position Deviation: Incorrect unit conversion parameter, uncompensated backlash, slipping coupling.
20. 重要な注意事項
21. After parameter modification, must save to drive EEPROM, parameters will not be retained after drive power-off otherwise;
22. Battery-free ABS: position is retained if shaft remains stationary at power-off; origin lost if shaft is rotated externally during power-off;
23. Reduce torque limit during commissioning to prevent mechanical collision damage;
24. Bus servo, no manual calculation and entry of electronic gear ratio, セット [Travel Distance per Revolution] in axis parameters;
25. Drive must be restarted after modifying motor model or encoder type for changes to take effect.